Try the Nivea unscented shaving cream. It doesn’t have all the additives that most of the others do, so it shouldn’t irritate the skin down there.
Some times I shave, others I pluck, and I’ve even tried some of the wax strips (I’ll try to look at the package for the name).
On the wax strips, you heat them up with your hands by rubbing them, the wax is non-irritating, and if you make the strips small, it can be worked around the area that you are after.
I’ve done the hairless version, but currently just trim things up to about 1/2 to 3/4 inch most places, and leave nothing on the shaft, or in a small ring area around the base (pumper style).